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滚-跳多运动模式球形机器人的动力学仿真研究 被引量:1
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作者 于源 吴怀松 +1 位作者 焦志伟 李秉洋 《北京化工大学学报(自然科学版)》 CAS CSCD 北大核心 2023年第1期89-96,共8页
复杂的探索环境对探测机器人的通行能力提出了更高要求,具有多种运动模式的球形机器人是探测机器人领域的研究热点之一。通过对球形机器人内部构件质量分布的调节,设计了一种基于单摆驱动式的滚-跳多运动模式球形机器人,其具有滚动、转... 复杂的探索环境对探测机器人的通行能力提出了更高要求,具有多种运动模式的球形机器人是探测机器人领域的研究热点之一。通过对球形机器人内部构件质量分布的调节,设计了一种基于单摆驱动式的滚-跳多运动模式球形机器人,其具有滚动、转向、爬坡与跳跃4种基本运动能力;随后,又根据球形机器人的设计方案建立了球形机器人4种基本运动动力学方程。利用Automatic Dynamics Analysis of Mechanical Systems(ADAMS)软件构建该球形机器人虚拟样机并对其进行了滚动、转向、爬坡与跳跃的动力学仿真,最后以此为依据计算滚动、转向、爬坡与跳跃运动性能的仿真值,并制作实验室样机验证了动力学仿真的正确性。 展开更多
关键词 球形机器人 多运动模式 动力学仿真 Automatic dynamics Analysis of Mechanical Systems(adams)
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Study on conditions of internally carried air-launched launch vehicles based on the virtual prototype technology
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作者 张久星 Xu Haojun +1 位作者 Zhang Dengcheng Zhang Yanhua 《High Technology Letters》 EI CAS 2014年第2期166-172,共7页
A method based on the virtual prototype technology simulating the separation of a launch vehicle from its aircraft in the aircraft wake was proposed based on the internally carried air-launched launch vehicle program.... A method based on the virtual prototype technology simulating the separation of a launch vehicle from its aircraft in the aircraft wake was proposed based on the internally carried air-launched launch vehicle program.In this method,the full-scale model of the aircraft,the vehicle and the parachute are constructed.Then,they are imported into the ADAMS software,constraint solutions and driving forces are then added for visual dynamic simulation.The unsteady aerodynamic forces of the vehicle in the aircraft wake are calculated by CFD and the moving grid technique.The forces generated by the parachute can be derived from the Kirchhoff motion equation.Through comparing and analyzing the simulation results under different launch conditions,it has been proven that this method simulates the separation of a launch vehicle from the aircraft in the aircraft wake accurately.It provides the foundation for the aggregate project of internally carried air-launch vehicles,and offers a new referenced method for multi-body dynamic simulation. 展开更多
关键词 air launch flight dynamics virtual prototype automatic dynamic analysis of me- chanical system adams PARACHUTE
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